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<div class="title">g2o::LinearSolverEigen&lt; MatrixType &gt; Class Template Reference</div>  </div>
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<p>linear solver which uses the sparse Cholesky solver from Eigen  
 <a href="classg2o_1_1_linear_solver_eigen.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="linear__solver__eigen_8h_source.html">linear_solver_eigen.h</a>&gt;</code></p>
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Inheritance diagram for g2o::LinearSolverEigen&lt; MatrixType &gt;:</div>
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Collaboration diagram for g2o::LinearSolverEigen&lt; MatrixType &gt;:</div>
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Classes</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_linear_solver_eigen_1_1_cholesky_decomposition.html">CholeskyDecomposition</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sub-classing Eigen's SimplicialLDLT to perform ordering with a given ordering.  <a href="classg2o_1_1_linear_solver_eigen_1_1_cholesky_decomposition.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
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Public Types</h2></td></tr>
<tr class="memitem:acd9dd4e15dfbbad2720f1b83519333e8"><td class="memItemLeft" align="right" valign="top">typedef Eigen::PermutationMatrix&lt; Eigen::Dynamic, Eigen::Dynamic, SparseMatrix::Index &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_linear_solver_eigen.html#acd9dd4e15dfbbad2720f1b83519333e8">PermutationMatrix</a></td></tr>
<tr class="separator:acd9dd4e15dfbbad2720f1b83519333e8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aeb7e2400bed3a249b5f29ce7cc00cd33"><td class="memItemLeft" align="right" valign="top">typedef Eigen::SparseMatrix&lt; double, Eigen::ColMajor &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_linear_solver_eigen.html#aeb7e2400bed3a249b5f29ce7cc00cd33">SparseMatrix</a></td></tr>
<tr class="separator:aeb7e2400bed3a249b5f29ce7cc00cd33"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a602c24e05d2f46022aa1827fdbc45638"><td class="memItemLeft" align="right" valign="top">typedef Eigen::Triplet&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_linear_solver_eigen.html#a602c24e05d2f46022aa1827fdbc45638">Triplet</a></td></tr>
<tr class="separator:a602c24e05d2f46022aa1827fdbc45638"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a062a4808d98b01686817b4565fd149cf"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_linear_solver_eigen.html#a062a4808d98b01686817b4565fd149cf">blockOrdering</a> () const</td></tr>
<tr class="memdesc:a062a4808d98b01686817b4565fd149cf"><td class="mdescLeft">&#160;</td><td class="mdescRight">do the AMD ordering on the blocks or on the scalar matrix  <a href="#a062a4808d98b01686817b4565fd149cf">More...</a><br /></td></tr>
<tr class="separator:a062a4808d98b01686817b4565fd149cf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8fca4bb987dcbeb94a366b1532dee139"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_linear_solver_eigen.html#a8fca4bb987dcbeb94a366b1532dee139">init</a> ()</td></tr>
<tr class="memdesc:a8fca4bb987dcbeb94a366b1532dee139"><td class="mdescLeft">&#160;</td><td class="mdescRight">init for operating on matrices with a different non-zero pattern like before  <a href="#a8fca4bb987dcbeb94a366b1532dee139">More...</a><br /></td></tr>
<tr class="separator:a8fca4bb987dcbeb94a366b1532dee139"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac9e7b64d4a559e6972a8b3798f490bd8"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_linear_solver_eigen.html#ac9e7b64d4a559e6972a8b3798f490bd8">LinearSolverEigen</a> ()</td></tr>
<tr class="separator:ac9e7b64d4a559e6972a8b3798f490bd8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a33a924364fc517e69c5ade5aeacd8ee3"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_linear_solver_eigen.html#a33a924364fc517e69c5ade5aeacd8ee3">setBlockOrdering</a> (bool <a class="el" href="classg2o_1_1_linear_solver_eigen.html#a062a4808d98b01686817b4565fd149cf">blockOrdering</a>)</td></tr>
<tr class="separator:a33a924364fc517e69c5ade5aeacd8ee3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5ceaab3ba944d327b21f7329c7e19c8c"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_linear_solver_eigen.html#a5ceaab3ba944d327b21f7329c7e19c8c">setWriteDebug</a> (bool b)</td></tr>
<tr class="separator:a5ceaab3ba944d327b21f7329c7e19c8c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae4ac566af324a238a31145c1e50b52e1"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_linear_solver_eigen.html#ae4ac566af324a238a31145c1e50b52e1">solve</a> (const <a class="el" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix</a>&lt; MatrixType &gt; &amp;A, double *x, double *b)</td></tr>
<tr class="memdesc:ae4ac566af324a238a31145c1e50b52e1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Assumes that A is the same matrix for several calls.  <a href="#ae4ac566af324a238a31145c1e50b52e1">More...</a><br /></td></tr>
<tr class="separator:ae4ac566af324a238a31145c1e50b52e1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad9bccc1b4bcd3cc5e107ac09ac93cf4b"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_linear_solver_eigen.html#ad9bccc1b4bcd3cc5e107ac09ac93cf4b">writeDebug</a> () const</td></tr>
<tr class="memdesc:ad9bccc1b4bcd3cc5e107ac09ac93cf4b"><td class="mdescLeft">&#160;</td><td class="mdescRight">write a debug dump of the system matrix if it is not SPD in solve  <a href="#ad9bccc1b4bcd3cc5e107ac09ac93cf4b">More...</a><br /></td></tr>
<tr class="separator:ad9bccc1b4bcd3cc5e107ac09ac93cf4b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afd2eeb1d54a420e110b9b8cdf74b1cff"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_linear_solver_eigen.html#afd2eeb1d54a420e110b9b8cdf74b1cff">~LinearSolverEigen</a> ()</td></tr>
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<tr class="inherit_header pub_methods_classg2o_1_1_linear_solver"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classg2o_1_1_linear_solver')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classg2o_1_1_linear_solver.html">g2o::LinearSolver&lt; MatrixType &gt;</a></td></tr>
<tr class="memitem:a741928aa64f4b6416c9990892e3ede7a inherit pub_methods_classg2o_1_1_linear_solver"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_linear_solver.html#a741928aa64f4b6416c9990892e3ede7a">LinearSolver</a> ()</td></tr>
<tr class="separator:a741928aa64f4b6416c9990892e3ede7a inherit pub_methods_classg2o_1_1_linear_solver"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a252e3658b3ba0c3577c33f846c514535 inherit pub_methods_classg2o_1_1_linear_solver"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_linear_solver.html#a252e3658b3ba0c3577c33f846c514535">solveBlocks</a> (double **&amp;blocks, const <a class="el" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix</a>&lt; MatrixType &gt; &amp;A)</td></tr>
<tr class="memdesc:a252e3658b3ba0c3577c33f846c514535 inherit pub_methods_classg2o_1_1_linear_solver"><td class="mdescLeft">&#160;</td><td class="mdescRight">Inverts the diagonal blocks of A.  <a href="classg2o_1_1_linear_solver.html#a252e3658b3ba0c3577c33f846c514535">More...</a><br /></td></tr>
<tr class="separator:a252e3658b3ba0c3577c33f846c514535 inherit pub_methods_classg2o_1_1_linear_solver"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adc74484f72bbe373622581fd597c1be3 inherit pub_methods_classg2o_1_1_linear_solver"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_linear_solver.html#adc74484f72bbe373622581fd597c1be3">solvePattern</a> (<a class="el" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix</a>&lt; MatrixXd &gt; &amp;spinv, const std::vector&lt; std::pair&lt; int, int &gt; &gt; &amp;blockIndices, const <a class="el" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix</a>&lt; MatrixType &gt; &amp;A)</td></tr>
<tr class="memdesc:adc74484f72bbe373622581fd597c1be3 inherit pub_methods_classg2o_1_1_linear_solver"><td class="mdescLeft">&#160;</td><td class="mdescRight">Inverts the a block pattern of A in spinv.  <a href="classg2o_1_1_linear_solver.html#adc74484f72bbe373622581fd597c1be3">More...</a><br /></td></tr>
<tr class="separator:adc74484f72bbe373622581fd597c1be3 inherit pub_methods_classg2o_1_1_linear_solver"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5157e1221534fae13989c8443adab1ec inherit pub_methods_classg2o_1_1_linear_solver"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_linear_solver.html#a5157e1221534fae13989c8443adab1ec">~LinearSolver</a> ()</td></tr>
<tr class="separator:a5157e1221534fae13989c8443adab1ec inherit pub_methods_classg2o_1_1_linear_solver"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr class="memitem:a12307526d419d194620e982d8c683767"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_linear_solver_eigen.html#a12307526d419d194620e982d8c683767">computeSymbolicDecomposition</a> (const <a class="el" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix</a>&lt; MatrixType &gt; &amp;A)</td></tr>
<tr class="memdesc:a12307526d419d194620e982d8c683767"><td class="mdescLeft">&#160;</td><td class="mdescRight">compute the symbolic decompostion of the matrix only once.  <a href="#a12307526d419d194620e982d8c683767">More...</a><br /></td></tr>
<tr class="separator:a12307526d419d194620e982d8c683767"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8ab862dc1eebb6ec5815f3970e9073f3"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_linear_solver_eigen.html#a8ab862dc1eebb6ec5815f3970e9073f3">fillSparseMatrix</a> (const <a class="el" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix</a>&lt; MatrixType &gt; &amp;A, bool onlyValues)</td></tr>
<tr class="separator:a8ab862dc1eebb6ec5815f3970e9073f3"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr class="memitem:a041970f37a5a6e63778f0c40e7c6e948"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_linear_solver_eigen.html#a041970f37a5a6e63778f0c40e7c6e948">_blockOrdering</a></td></tr>
<tr class="separator:a041970f37a5a6e63778f0c40e7c6e948"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab7205de4c6820b3ecd7ed7f39bbdf573"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classg2o_1_1_linear_solver_eigen_1_1_cholesky_decomposition.html">CholeskyDecomposition</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_linear_solver_eigen.html#ab7205de4c6820b3ecd7ed7f39bbdf573">_cholesky</a></td></tr>
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<tr class="memitem:a52c02e9b24e4f6ade190e6adb29b05b4"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_linear_solver_eigen.html#a52c02e9b24e4f6ade190e6adb29b05b4">_init</a></td></tr>
<tr class="separator:a52c02e9b24e4f6ade190e6adb29b05b4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a39682995a9cf32dc79848281c6d4d9b9"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classg2o_1_1_linear_solver_eigen.html#aeb7e2400bed3a249b5f29ce7cc00cd33">SparseMatrix</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_linear_solver_eigen.html#a39682995a9cf32dc79848281c6d4d9b9">_sparseMatrix</a></td></tr>
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<tr class="memitem:a2d331575853451fc94ca6f6420f0bdcb"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_linear_solver_eigen.html#a2d331575853451fc94ca6f6420f0bdcb">_writeDebug</a></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><h3>template&lt;typename MatrixType&gt;<br />
class g2o::LinearSolverEigen&lt; MatrixType &gt;</h3>

<p>linear solver which uses the sparse Cholesky solver from Eigen </p>
<p>Has no dependencies except Eigen. Hence, should compile almost everywhere without to much issues. Performance should be similar to CSparse, I guess. </p>
</div><h2 class="groupheader">Member Typedef Documentation</h2>
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template&lt;typename MatrixType &gt; </div>
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          <td class="memname">typedef Eigen::PermutationMatrix&lt;Eigen::Dynamic, Eigen::Dynamic, SparseMatrix::Index&gt; <a class="el" href="classg2o_1_1_linear_solver_eigen.html">g2o::LinearSolverEigen</a>&lt; MatrixType &gt;::<a class="el" href="classg2o_1_1_linear_solver_eigen.html#acd9dd4e15dfbbad2720f1b83519333e8">PermutationMatrix</a></td>
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template&lt;typename MatrixType &gt; </div>
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          <td class="memname">typedef Eigen::SparseMatrix&lt;double, Eigen::ColMajor&gt; <a class="el" href="classg2o_1_1_linear_solver_eigen.html">g2o::LinearSolverEigen</a>&lt; MatrixType &gt;::<a class="el" href="classg2o_1_1_linear_solver_eigen.html#aeb7e2400bed3a249b5f29ce7cc00cd33">SparseMatrix</a></td>
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<p>do the AMD ordering on the blocks or on the scalar matrix </p>

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<p>compute the symbolic decompostion of the matrix only once. </p>
<p>Since A has the same pattern in all the iterations, we only compute the fill-in reducing ordering once and re-use for all the following iterations. </p>

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<p>init for operating on matrices with a different non-zero pattern like before </p>

<p>Implements <a class="el" href="classg2o_1_1_linear_solver.html#aebd961a94ef6de1bc66d2ca41dd2b17b">g2o::LinearSolver&lt; MatrixType &gt;</a>.</p>

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<p>Reimplemented from <a class="el" href="classg2o_1_1_linear_solver.html#a969c406ccacc38705b2a88f5ed23cb9a">g2o::LinearSolver&lt; MatrixType &gt;</a>.</p>

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<p>Assumes that A is the same matrix for several calls. </p>
<p>Among other assumptions, the non-zero pattern does not change! If the matrix changes call <a class="el" href="classg2o_1_1_linear_solver_eigen.html#a8fca4bb987dcbeb94a366b1532dee139" title="init for operating on matrices with a different non-zero pattern like before ">init()</a> before. solve system Ax = b, x and b have to allocated beforehand!! </p>

<p>Implements <a class="el" href="classg2o_1_1_linear_solver.html#aa44b40826d50203c8ce2ff258c34e030">g2o::LinearSolver&lt; MatrixType &gt;</a>.</p>

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<p>write a debug dump of the system matrix if it is not SPD in solve </p>

<p>Reimplemented from <a class="el" href="classg2o_1_1_linear_solver.html#ac4b23c56cf69759a692906fc8816cf8f">g2o::LinearSolver&lt; MatrixType &gt;</a>.</p>

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          <td class="memname"><a class="el" href="classg2o_1_1_linear_solver_eigen.html#aeb7e2400bed3a249b5f29ce7cc00cd33">SparseMatrix</a> <a class="el" href="classg2o_1_1_linear_solver_eigen.html">g2o::LinearSolverEigen</a>&lt; MatrixType &gt;::_sparseMatrix</td>
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<hr/>The documentation for this class was generated from the following file:<ul>
<li>/home/alejandro/Desarrollo eclipse/os1/Thirdparty/g2o/g2o/solvers/<a class="el" href="linear__solver__eigen_8h_source.html">linear_solver_eigen.h</a></li>
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